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Heterogeneous master-slave teleoperation control method and device based on force guidance

A technology of remote operation control and tension control, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of damage to the slave arm and affecting the smoothness of remote operation.

Active Publication Date: 2021-02-26
ELECTRIC POWER RES INST OF GUANGDONG POWER GRID
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Problems solved by technology

[0005] The purpose of the present invention is to at least solve one of the above-mentioned technical defects, especially in the prior art, the master-slave teleoperation control realizes the posture tracking between the master-slave arm through position control, when the system signal is discontinuous, It will significantly affect the smoothness of teleoperation, and in severe cases, it will also cause technical defects of damage to the slave arm

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  • Heterogeneous master-slave teleoperation control method and device based on force guidance
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  • Heterogeneous master-slave teleoperation control method and device based on force guidance

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[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0039] Those skilled in the art will understand that unless otherwise stated, the singular forms "a", "an", "the" and "the" used herein may also include plural forms. It should be further understood that the word "comprising" used in the specification of the present application refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, Integers, s...

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Abstract

The invention provides a heterogeneous master-slave teleoperation control method and device based on force guidance. The method and device consider that the current position tracking between a masterarm and a slave arm is easily affected by a system signal when the position tracking is realized through position control, and when the system signal is discontinuous, the smoothness of the teleoperation is significantly affected, and the slave arm is damaged in severe cases. Therefore, in the master-slave teleoperation control process, a slave arm target position is generated according to masterarm end position information and slave arm end position information in a preset period, the slave arm target position is compared with a slave arm real-time position to determine a position error between the master arm and the slave arm, and then the position error is converted into a virtual elastic tension to realize the transformation from the position tracking to the force control. Moreover, since the discontinuity of the force only causes acceleration jumps and slow changes in speed, the motion of the slave arm is always continuous and smooth, and the damage to the slave arm is not caused.

Description

technical field [0001] The invention relates to the technical field of teleoperation robots, in particular to a force-guided heterogeneous master-slave teleoperation control method, device, storage medium and operating robot. Background technique [0002] At present, the maintenance work of power distribution overhead lines is gradually replaced by special operation robot equipment. Compared with manual maintenance, it has the advantages of low safety risk and high operation efficiency. [0003] The existing master-slave teleoperation control of special operation robots is all based on pose mapping. For isomorphic master-slave control, the master arm sends angle signals of each joint to the controller, and the controller controls the angle movement of each joint of the slave arm to track the signal of the master arm to realize teleoperation; for heterogeneous master-slave control, the master arm sends For the terminal pose signal, the controller uses inverse kinematics to s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J3/00B25J9/16
CPCB25J3/00B25J9/1602B25J9/1633
Inventor 王杨吴晖
Owner ELECTRIC POWER RES INST OF GUANGDONG POWER GRID
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